四自由度混联运动平台的分析与仿真  

Analysis and Simulation of 4-DOF Hybrid Motion Platform

作　　者：张骁[1] 王培俊[1] 张利斌[1] 李文涛[1] 

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械设计与制造》2015年第10期241-244,248,共5页Machinery Design & Manufacture

基　　金：四川省科技支撑计划项目(2013GZX0138)

摘　　要：针对串联机构构造复杂,并联机构控制复杂,设计了一种串并联结合的四自由度汽车驾驶模拟器。对平台进行了静力分析,以便对平台进行优化设计。采用高等机构学中的D-H坐标变换法,对机构的空间位置进行了正逆解计算及分析。利用Inventor建立了机构的三维模型,并进行了机构的运动仿真。将Inventor模型导入Adams中得到平台虚拟样机,利用ADAMS软件对平台进行运动分析和仿真,验证了平台的可行性和运动方程的正确性。利用虚拟仿真所获得的数据为机构的优化和控制提供了有效的依据。A 4-DOF hybrid motion platform was designed to overcome the complex structure of the serial mechanism,and the complicated control of the parallel mechanism. In order to optimize the design of the platform,the statics of the platform was analyzed. The kinematics positive solution and inverse solution was established and analyzed by D-H method. Inventor software was utilized to establish the 3D model of mechanism,and the motion simulation of the mechanism. The model was imported into Adams and the virtual prototype of the platform was established,and the correctness of the motion equation and the feasibility of the platform was proved by using Adams software to do motion analysis and simulation. The obtained simulation data can provide the basis for the optimization of structural design and the motion control.

关 键 词：混联机构 静力分析 D-H法 运动分析 ADAMS仿真 

分 类 号：TH16[机械工程—机械制造及自动化] TH122